Change to use supercover #322
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corot
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RainerKuemmerle
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Description
As discussed here: #317 (comment)
Bresenham line drawing misses grid squares that the ray passes through. The
supercoveralgorithm gets all the squares and it is the preferred algorithm to use when we search for possible collisions .Great description in Realtime Collision Detection "7.4.2 Uniform Grid Intersection Test".
In this PR, we are replacing
getLineCells(Bresenham) bysupercover, which is a more conservative approach.Note that we needed to change some tests because the resolution of the map is 1.0 and the robot size is 1.0 x 1.0, thus diagonals should cover all cells around with new
supercover.